Apparatus including an autonomous robot apparatus for mowing grass

Abstract

An apparatus for mowing grass. The apparatus has a plurality of cutting devices for mowing the grass. The apparatus has a plurality of carrying arms which are arranged offset with respect to one another with regard to the transverse axis of the apparatus, and are supported such that they can be pivoted up and down in each case individually, and carry in each case one of the plurality of cutting devices. The apparatus has a plurality of supporting elements which support in each case one of the plurality of carrying arms on an underlying surface, and are arranged in front of the respective cutting device with regard to a forward moving direction of the apparatus. The apparatus can have the advantage that the leading supporting elements do not push any cuttings in front of them, and a risk of the apparatus being jacked up is decreased.

The invention claimed is: 
     
       1. An apparatus for mowing grass, having:
 a plurality of cutting devices for mowing the grass; 
 a plurality of carrying arms which are arranged offset with respect to one another with regard to a transverse axis of the apparatus, and are mounted such that they can be pivoted up and down in each case individually, and carry in each case one of a plurality of cutting devices; and 
 a plurality of supporting elements which support in each case one of the plurality of carrying arms on an underlying surface, and are arranged in front of the respective cutting device with regard to a forward moving direction of the apparatus. 
 
     
     
       2. The apparatus as claimed in  claim 1 :
 the plurality of supporting elements being configured as runners. 
 
     
     
       3. The apparatus as claimed in  claim 1 :
 the plurality of supporting elements being connected rotatably to the respective carrying arm, 
 a respective rotational axis of the plurality of supporting elements running parallel or obliquely with respect to a vertical axis of the apparatus in a manner which is inclined forward with regard to the forward moving direction. 
 
     
     
       4. The apparatus as claimed in  claim 1 , having, furthermore:
 a main body or frame, on which the plurality of carrying arms are mounted such that they can be pivoted up and down in each case individually, and to which drive elements, including wheels or caterpillar drives, are attached which are drive-connected to a drive unit of the apparatus. 
 
     
     
       5. The apparatus as claimed in  claim 1 :
 wherein pivot bearings and the plurality of supporting elements are arranged in each case on opposite end regions of the plurality of carrying arms. 
 
     
     
       6. The apparatus as claimed in  claim 1 :
 the plurality of cutting devices having in each case at least one cutting element which can be rotated about a cutting axis of the respective cutting device, the cutting axis running obliquely with regard to a vertical axis of the apparatus in a manner which is inclined forward with regard to the forward moving direction. 
 
     
     
       7. The apparatus as claimed in  claim 1 :
 the plurality of cutting devices in each case having a stationary part and a rotatable part which are spaced apart from one another by way of a parting line; 
 a region of the stationary part, which region adjoins the parting line, tapering in a direction away from the parting line; and 
 a region of the rotatable part, which region adjoins the parting line, tapering in a direction away from the parting line. 
 
     
     
       8. The apparatus as claimed in  claim 1 , having, furthermore:
 a plurality of carrying arm prestressing elements, including springs, which are assigned to in each case one of the plurality of carrying arms and prestress the respective carrying arm for pivoting up, and relieving the respective supporting element or the underlying surface. 
 
     
     
       9. The apparatus as claimed in  claim 1 , having, furthermore:
 at least one tactile sensor arm which is arranged such that it can be pivoted in and out, on a longitudinal outer side of the apparatus for the tactile detection of a spacing (a) between the apparatus and an object next to the apparatus, 
 in each case one tactile sensor arm is included on the two longitudinal outer sides of the apparatus. 
 
     
     
       10. The apparatus as claimed in  claim 9 , having, furthermore:
 at least one sensor arm prestressing element which prestresses the at least one tactile sensor arm for pivoting out; and 
 an electric drive, including an electric gimbal drive, which is drive-connected to the at least one tactile sensor arm for pivoting out the at least one tactile sensor arm, a mechanism, including a single-stage planetary gear mechanism, a spur gear mechanism and a belt mechanism, being arranged between the electric drive and the tactile sensor arm. 
 
     
     
       11. The apparatus as claimed in  claim 9 , having, furthermore:
 an angle sensor which is configured to detect a pivoting angle of the at least one tactile sensor arm. 
 
     
     
       12. The apparatus as claimed in  claim 9 , having, furthermore:
 a control unit which is configured to determine the spacing from the object in a manner which is based on a pivoting angle of the at least one tactile sensor arm or an angular velocity of a pivoting movement of the at least one tactile sensor arm, 
 the control unit being configured, furthermore, to navigate the apparatus in a manner which is based on the determined spacing. 
 
     
     
       13. The apparatus as claimed in  claim 1 , having, furthermore:
 at least one boom which can be pivoted in and out on the longitudinal outer side of the apparatus, and has a further cutting device for mowing grass, 
 the at least one boom being prestressed for pivoting out; or 
 the at least one boom having a rotatable rolling element which is circular for rolling on objects next to the apparatus. 
 
     
     
       14. The apparatus as claimed in  claim 13 :
 the rolling element being arranged above the further cutting device and having an external diameter which is greater than an external diameter of the further cutting device. 
 
     
     
       15. The apparatus as claimed in  claim 13 :
 the boom additionally being mounted such that it can be pivoted up and down, the boom having a further supporting element including a runner for supporting the boom on the underlying surface, and being prestressed for pivoting up. 
 
     
     
       16. The apparatus of  claim 1 , wherein the apparatus includes an autonomous robot apparatus. 
     
     
       17. The apparatus of  claim 2 , wherein the runners are at least one of horn-shaped and curved.